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EP3221095A4 - Robot et système de robot - Google Patents

Robot et système de robot Download PDF

Info

Publication number
EP3221095A4
EP3221095A4 EP15861922.1A EP15861922A EP3221095A4 EP 3221095 A4 EP3221095 A4 EP 3221095A4 EP 15861922 A EP15861922 A EP 15861922A EP 3221095 A4 EP3221095 A4 EP 3221095A4
Authority
EP
European Patent Office
Prior art keywords
robot
robot system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15861922.1A
Other languages
German (de)
English (en)
Other versions
EP3221095B1 (fr
EP3221095A1 (fr
Inventor
Atsushi Harada
Yukihiro Yamaguchi
Taro Ishige
Koichi Yasuda
Kazushige Akaha
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Seiko Epson Corp
Original Assignee
Seiko Epson Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2014236299A external-priority patent/JP6565175B2/ja
Priority claimed from JP2015068272A external-priority patent/JP6507792B2/ja
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Publication of EP3221095A1 publication Critical patent/EP3221095A1/fr
Publication of EP3221095A4 publication Critical patent/EP3221095A4/fr
Application granted granted Critical
Publication of EP3221095B1 publication Critical patent/EP3221095B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39008—Fixed camera detects reference pattern held by end effector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39022—Transform between measuring and manipulator coordinate system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39045—Camera on end effector detects reference pattern
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39057—Hand eye calibration, eye, camera on hand, end effector
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y10S901/47—Optical

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
EP15861922.1A 2014-11-21 2015-11-13 Robot et système de robot Active EP3221095B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2014236299A JP6565175B2 (ja) 2014-11-21 2014-11-21 ロボットおよびロボットシステム
JP2015068272A JP6507792B2 (ja) 2015-03-30 2015-03-30 ロボットおよびロボットシステム
PCT/JP2015/005678 WO2016079967A1 (fr) 2014-11-21 2015-11-13 Robot et système de robot

Publications (3)

Publication Number Publication Date
EP3221095A1 EP3221095A1 (fr) 2017-09-27
EP3221095A4 true EP3221095A4 (fr) 2018-05-23
EP3221095B1 EP3221095B1 (fr) 2020-08-19

Family

ID=56013540

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15861922.1A Active EP3221095B1 (fr) 2014-11-21 2015-11-13 Robot et système de robot

Country Status (5)

Country Link
US (1) US10525597B2 (fr)
EP (1) EP3221095B1 (fr)
CN (1) CN107073719B (fr)
TW (1) TWI670153B (fr)
WO (1) WO2016079967A1 (fr)

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JP6407826B2 (ja) * 2015-09-03 2018-10-17 ファナック株式会社 座標系設定方法、座標系設定装置、及び座標系設定装置を備えたロボットシステム
JP6812095B2 (ja) * 2015-10-22 2021-01-13 キヤノン株式会社 制御方法、プログラム、記録媒体、ロボット装置、及び物品の製造方法
JP6710946B2 (ja) 2015-12-01 2020-06-17 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
TWI617405B (zh) * 2016-08-08 2018-03-11 Correction method for robot arm correction system
CN109689310A (zh) * 2016-09-13 2019-04-26 Abb瑞士股份有限公司 对工业机器人编程的方法
TWI610245B (zh) * 2016-10-19 2018-01-01 廣明光電股份有限公司 機器人視覺座標的編程方法
TWI614103B (zh) * 2016-10-21 2018-02-11 和碩聯合科技股份有限公司 機械手臂定位方法及應用其的系統
WO2018109828A1 (fr) * 2016-12-13 2018-06-21 株式会社Ｆｕｊｉ Procédé de correction de la position cible d'un robot de travail
CN110621447B (zh) * 2017-05-22 2022-11-11 Abb瑞士股份有限公司 机器人传送器校准方法、机器人系统以及控制系统
JP6568172B2 (ja) * 2017-09-22 2019-08-28 ファナック株式会社 キャリブレーションを行うロボット制御装置、計測システム及びキャリブレーション方法
WO2019148428A1 (fr) 2018-02-01 2019-08-08 Abb Schweiz Ag Opération reposant sur la vision pour robot
JP7035727B2 (ja) * 2018-03-30 2022-03-15 日本電産株式会社 キャリブレーション精度の評価方法及び評価装置
JP6773084B2 (ja) * 2018-07-02 2020-10-21 株式会社安川電機 動作教示装置、ロボットシステム及び動作教示方法
WO2020047713A1 (fr) * 2018-09-03 2020-03-12 Abb Schweiz Ag Procédé et appareil de gestion de système de robot
US10875177B2 (en) * 2018-10-02 2020-12-29 Techman Robot Inc. Partitioning method for a work space of a robot
US11065768B2 (en) * 2018-11-01 2021-07-20 TE Connectivity Services Gmbh Automatic calibration for camera-robot system with tool offsets
US11254019B2 (en) * 2019-03-05 2022-02-22 The Boeing Company Automatic calibration for a robot optical sensor
CN111716346B (zh) * 2019-03-20 2021-09-17 台达电子工业股份有限公司 机械手臂工具校正方法及其校正装置
TWI708667B (zh) * 2019-09-27 2020-11-01 國立臺灣大學 運動裝置之位置與姿態校正裝置及系統與方法
CN111168719B (zh) * 2020-02-20 2021-06-22 上海节卡机器人科技有限公司 一种基于定位工装的机器人校准方法及系统
US20230168081A1 (en) * 2020-04-10 2023-06-01 The Research Foundation for The State Unviersity of New York System and method for 3d image scanning
CN113733078B (zh) * 2020-05-27 2022-09-13 中国人民解放军63920部队 机械臂精调控制量判读方法、计算机可读存储介质

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US20120300058A1 (en) * 2011-05-23 2012-11-29 Hon Hai Precision Industry Co., Ltd. Control computer and method for regulating mechanical arm using the same
WO2014161603A1 (fr) * 2013-04-05 2014-10-09 Abb Technology Ltd Système robot et méthode d'étalonnage

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US5297238A (en) * 1991-08-30 1994-03-22 Cimetrix Incorporated Robot end-effector terminal control frame (TCF) calibration method and device
JPH08108382A (ja) * 1994-10-07 1996-04-30 Kobe Steel Ltd 工業用ロボットのキャリブレーション装置
JPH08210816A (ja) 1995-02-03 1996-08-20 Fanuc Ltd ロボット−視覚センサシステムにおいてセンサ座標系とロボット先端部の関係を定める座標系結合方法
JP2000263477A (ja) * 1999-03-19 2000-09-26 Denso Corp ロボットのキャリブレーション方法
JP4298757B2 (ja) * 2007-02-05 2009-07-22 ファナック株式会社 ロボット機構のキャリブレーション装置及び方法
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JP6108860B2 (ja) * 2013-02-14 2017-04-05 キヤノン株式会社 ロボットシステム及びロボットシステムの制御方法
JP2014180720A (ja) * 2013-03-19 2014-09-29 Yaskawa Electric Corp ロボットシステム及びキャリブレーション方法
JP6468741B2 (ja) * 2013-07-22 2019-02-13 キヤノン株式会社 ロボットシステム及びロボットシステムの校正方法
JP6335460B2 (ja) * 2013-09-26 2018-05-30 キヤノン株式会社 ロボットシステムの制御装置及び指令値生成方法、並びにロボットシステムの制御方法
JP6415190B2 (ja) * 2014-09-03 2018-10-31 キヤノン株式会社 ロボット装置、ロボット制御プログラム、記録媒体、およびロボット装置の制御方法
US9193073B1 (en) * 2014-10-15 2015-11-24 Quanta Storage Inc. Robot calibration apparatus for calibrating a robot arm

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
US20120300058A1 (en) * 2011-05-23 2012-11-29 Hon Hai Precision Industry Co., Ltd. Control computer and method for regulating mechanical arm using the same
WO2014161603A1 (fr) * 2013-04-05 2014-10-09 Abb Technology Ltd Système robot et méthode d'étalonnage

Non-Patent Citations (1)

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Title
See also references of WO2016079967A1 *

Also Published As

Publication number Publication date
TWI670153B (zh) 2019-09-01
TW201618913A (zh) 2016-06-01
EP3221095B1 (fr) 2020-08-19
WO2016079967A1 (fr) 2016-05-26
CN107073719A (zh) 2017-08-18
US10525597B2 (en) 2020-01-07
EP3221095A1 (fr) 2017-09-27
CN107073719B (zh) 2020-07-28
US20180243911A1 (en) 2018-08-30

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